The TeleKyb framework for a modular and extendible ROS-based quadrotor control

Volker Grabe, Martin Riedel, Heinrich Bulthoff, Paolo Robuffo Giordano, Antonio Franchi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

37 Citations (Scopus)

Abstract

The free and open source Tele-Operation Platform of the MPI for Biological Cybernetics (TeleKyb) is an end-to-end software framework for the development of bilateral teleoperation systems between human interfaces (e.g., haptic force feedback devices or gamepads) and groups of quadrotor Unmanned Aerial Vehicles (UAVs). Among drivers for devices and robots from various hardware manufactures, TeleKyb provides a high-level closed-loop robotic controller for mobile robots that can be extended dynamically with modules for state estimation, trajectory planning, processing, and tracking. Since all internal communication is based on the Robot Operating System (ROS), TeleKyb can be easily extended to meet future needs. The capabilities of the overall framework are demonstrated in both an experimental validation of the controller for an individual quadrotor and a complex experimental setup involving bilateral human-robot interaction and shared formation control of multiple UAVs.

Original languageEnglish
Title of host publication2013 European Conference on Mobile Robots, ECMR 2013 - Conference Proceedings
PublisherIEEE Computer Society
Pages19-25
Number of pages7
DOIs
Publication statusPublished - 2013 Jan 1
Event2013 6th European Conference on Mobile Robots, ECMR 2013 - Barcelona, Spain
Duration: 2013 Sep 252013 Sep 27

Other

Other2013 6th European Conference on Mobile Robots, ECMR 2013
CountrySpain
CityBarcelona
Period13/9/2513/9/27

Fingerprint

Unmanned aerial vehicles (UAV)
Robots
Haptic interfaces
Cybernetics
Controllers
Human robot interaction
State estimation
Remote control
Mobile robots
Robotics
Trajectories
Feedback
Hardware
Planning
Communication
Processing

ASJC Scopus subject areas

  • Artificial Intelligence
  • Human-Computer Interaction

Cite this

Grabe, V., Riedel, M., Bulthoff, H., Giordano, P. R., & Franchi, A. (2013). The TeleKyb framework for a modular and extendible ROS-based quadrotor control. In 2013 European Conference on Mobile Robots, ECMR 2013 - Conference Proceedings (pp. 19-25). [6698814] IEEE Computer Society. https://doi.org/10.1109/ECMR.2013.6698814

The TeleKyb framework for a modular and extendible ROS-based quadrotor control. / Grabe, Volker; Riedel, Martin; Bulthoff, Heinrich; Giordano, Paolo Robuffo; Franchi, Antonio.

2013 European Conference on Mobile Robots, ECMR 2013 - Conference Proceedings. IEEE Computer Society, 2013. p. 19-25 6698814.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Grabe, V, Riedel, M, Bulthoff, H, Giordano, PR & Franchi, A 2013, The TeleKyb framework for a modular and extendible ROS-based quadrotor control. in 2013 European Conference on Mobile Robots, ECMR 2013 - Conference Proceedings., 6698814, IEEE Computer Society, pp. 19-25, 2013 6th European Conference on Mobile Robots, ECMR 2013, Barcelona, Spain, 13/9/25. https://doi.org/10.1109/ECMR.2013.6698814
Grabe V, Riedel M, Bulthoff H, Giordano PR, Franchi A. The TeleKyb framework for a modular and extendible ROS-based quadrotor control. In 2013 European Conference on Mobile Robots, ECMR 2013 - Conference Proceedings. IEEE Computer Society. 2013. p. 19-25. 6698814 https://doi.org/10.1109/ECMR.2013.6698814
Grabe, Volker ; Riedel, Martin ; Bulthoff, Heinrich ; Giordano, Paolo Robuffo ; Franchi, Antonio. / The TeleKyb framework for a modular and extendible ROS-based quadrotor control. 2013 European Conference on Mobile Robots, ECMR 2013 - Conference Proceedings. IEEE Computer Society, 2013. pp. 19-25
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